Abstract : In recent papers models of the human locomotion by means of an optimal control problem have been proposed. In this paradigm, the trajectories are assumed to be solutions of an optimal control problem whose cost has to be determined. The purpose of the present paper is to analyze the class of optimal control problems defined in this way. We prove strong convergence result for their solutions on the one hand for perturbations of the initial and final points (stability), and on the other hand for perturbations of the cost (robustness).